def test_fkdict(self): panda = rp.PandaURDF() fkd = panda.fk_dict() for i in range(len(panda.ets)): nt.assert_array_almost_equal(panda.ets[i]._fk.t, fkd['links'][i]['t'])
def test_urdf_load(self): rp.wx250s() rp.UR5() rp.PandaURDF() try: xacro.main("") except BaseException: pass
def test_collision(self): p = rp.PandaURDF() link = p.ets[1] col = link.collision[0] self.assertIsInstance(col, rp.Shape) self.assertIsInstance(col.base, sm.SE3) self.assertTrue(col.primitive) self.assertIsInstance(col.scale, np.ndarray) col.radius = 2 self.assertEqual(col.radius, 2) col.length = 2 self.assertEqual(col.length, 2)
def test_PandaURDF(self): panda = rp.PandaURDF() panda.qr panda.qz
def test_manuf(self): panda = rp.PandaURDF() self.assertIsInstance(panda.manuf, str)
def test_qlim(self): panda = rp.PandaURDF() self.assertEqual(panda.qlim.shape[0], 2) self.assertEqual(panda.qlim.shape[1], panda.n)
def test_dict(self): panda = rp.PandaURDF() panda.to_dict() wx = rp.wx250s() wx.to_dict()